Forthcoming and Online First Articles

International Journal of Advanced Mechatronic Systems

International Journal of Advanced Mechatronic Systems (IJAMechS)

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International Journal of Advanced Mechatronic Systems (6 papers in press)

Regular Issues

  • TTower-345: a multi-categories multi-perspectives benchmark for automatic naming of transmission line inspection photos   Order a copy of this article
    by Jinqing Shen, Hong Ye, Chunjun Tang, Guoqin Zhang, Yan He, Min Xie 
    Abstract: Efficient naming of inspection photos of transmission line towers is vital in the maintenance of power grid equipment. Current inspection photo naming methods are mainly manual, which is neither rapid nor effective. Research on inspection photo naming is limited due to a shortage of inspection image datasets and low image resolution. Hence, we gathered inspection photos of real tangent towers using drones and created an inspection photo dataset TTower-345 for automatic naming model training purposes. We proposed an automatic naming model, IELC (improved EfficientNet network and LBP classification model), based on this dataset. IELC comprises a dual-branch structure that integrates a jointly improved EfficientNet model and an local binary patterns (LBP) classification model. Experimental results indicated that the proposed dataset contains more diverse inspection image features, which in turn helped the model learn more features. In our experiments, our proposed automatic naming method achieved a classification accuracy of over 95% and demonstrated reliability by exhibiting good generalisability in practical scenarios.
    Keywords: transmission lines; tangent towers; benchmark; inspection photo naming; EfficientNet model; local binary pattern; LBP classification.

  • Robust control for automatic voltage regulator system based on learning sliding mode control   Order a copy of this article
    by Ali Ahmed Mahal, Abdal-Razak Shehab Hadi 
    Abstract: The purpose of this study is to enhance the transient response of automatic voltage regulator (AVR) by implementing robust control strategies that optimise control parameters in a less complex manner compared to existing algorithms. The study focuses on evaluating the effectiveness of two sliding mode control (SMC) methods, namely conventional sliding mode control (CSMC) and learning sliding mode control (LSMC), and their superiority over the typical PID controller, which is better suited for the linear systems. Given the nonlinear nature of the AVR system due to external disturbances and uncertainty, SMC is deemed more appropriate. The study also utilised the Lyapunov equation to ensure stability and utilised tanh to eliminate the chattering problems and achieve a smoother control law. The findings reveal that LSMC offers improved response speed and reduced overshoot, and its learning aspect enables it to overcome external disturbances and uncertainty, making it more effective than CSMC.
    Keywords: learning sliding mode control; LSMC; automatic voltage regulator; AVR; conventional sliding mode control; PID controller; SDO; chattering; MATLAB/Simulink; robust control; nonlinear system.

  • Multi-platform and open source development tool for automation   Order a copy of this article
    by David Delfieu, Maurice Comlan, Narcisse Assogba 
    Abstract: This paper presents an open source tool allowing to embed a grafcet onto a micro-controller board. This tool assists the user throughout the entire process, starting from the design of the grafcet, defining and assigning inputs and outputs, generating the code, and finally facilitating its download onto a micro-controller board. The graphical part of this software use a J-based package JG for the definition of the interface, and regarding the code generation, the semantics rules of evolution are precisely presented. An application case illustrates the use of the software from modelling to electronic assembly. Temporal data relevant to the application is provided, discussing the limitations stemming from input-output constraints. All of this information helps delineate the domain and scope of applications suitable for this approach.
    Keywords: grafcet; Arduino; programmable logic controller; code generation.

  • Fractional-order model-based robust identification for a vehicle semi-active electro-rheological suspension system   Order a copy of this article
    by Yamina Ali-Larnene, Samir Ladaci, Aissa Belmeguenai 
    Abstract: In this paper, we consider the identification of a semi-active electro-rheological (ER) suspension system. We propose a linear fractional order model in order to represent the nonlinear quarter-car model equipped with the dynamic nonlinear model of ER damper. The objective is to reduce the effects of road profile disturbance and output measurement noise (two acceleration of spring mass and unsprung mass). Simulation results show the effectiveness of fractional order system comparatively to the integer order model used in practice. In fact, the fractional order allows a better compromise between the two outputs performance in the suspension system providing a new degree of freedom for the designer.
    Keywords: semi-active suspension system; electro-rheological; ER; fractional order model; disturbance; identification; nonlinear system.

  • An echo state network-based feedforward feedback controller for application in dynamic systems control   Order a copy of this article
    by Kazuhiko Takahashi, Naoyuki Kita, Miku Sasaki, Reika Kimura, Masafumi Hashimoto 
    Abstract: This study explored the application reservoir computing, particularly echo state networks (ESNs), to control dynamic systems. The design method of a servo-level controller was proposed, where the ESN matches the objective plant output with the reference output. The ESN was combined with a feedback controller to obtain the control input of the plant. The ESN-based controller was first trained using a linear-regression approach with fixed datasets gathered from the objective plant. Thereafter, feedback error learning was performed during the control process in real-time to compensate for the control error due to the identification error of the plant’s inverse transfer function. Computational experiments involving the control of a discrete-time nonlinear plant were conducted. The simulation results clarified the feasibility of the proposal and validated the performance of the ESN-based controller.
    Keywords: reservoir computing; echo state network; ESN; control system; feedforward feedback controller.

  • Finding the optimal path in a 3D environment with predefined obstacles   Order a copy of this article
    by Gabriel Mansour, Ilias Chouridis, Apostolos Tsagaris 
    Abstract: Robotics has substantially improved people’s daily lives, especially industrial production and manufacturing. An offline programming method is proposed for robot’s path planning in a 3D environment with obstacles. The purpose of this method is to find the shortest 3D path between two or more points avoiding obstacles. Two types of paths are created, in the first type, the shortest path between the points is created based on their input order. In the second type, the shortest path that connects the input points is formed. It is accomplished by using a hybrid algorithm that combines the ant colony optimisation algorithm with a genetic algorithm called the roulette wheel method. The proposed method takes into consideration the robot’s capabilities and the variability of different environments, so that it can be effectively applied to a multitude of cases. The method has been tested and applied to real world industrial robots successfully.
    Keywords: robotics; industrial robotics; hybrid algorithm; ant colony optimisation; genetic algorithm; offline programming; path planning; 3D environment; industrial robot navigation; mechatronic system.